Unstacking package grabbing execution device and unstacking system

Abstract

The utility model discloses an unstacking and package grabbing execution device and an unstacking system, and relates to the technical field of unstacking equipment.The unstacking and package grabbing execution device comprises a connecting frame, an unstacking frame is arranged at one end of the connecting frame, two supporting arms are arranged at one end of the unstacking frame, a first roller and a second roller are arranged between the two supporting arms, and a first linkage gear is arranged in the middle of the first roller; a second linkage gear and a third linkage gear are arranged in the middle of the second roller, and a plurality of wavy shifting teeth are arranged on the circumferences of the first roller and the second roller; a pressing frame is hinged to the position, located above the unstacking frame, of the connecting frame, a pressing arm is arranged at the end, close to the first rolling wheel, of the pressing frame, the friction force between the pressing frame and a material bag is increased by arranging material stirring teeth, the unstacking efficiency is improved, meanwhile, fixing of the material bag in the transferring process is achieved through the pressing arm, and the stability is improved; the multi-degree-of-freedom mechanical arm and the unstacking and package grabbing execution device are further included, and flexible change of any angle of the whole unstacking and package grabbing execution device during unstacking is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of depalletizing equipment, in particular to a depalletizing and bag grabbing execution device and a depalletizing system. Background Art

[0002] Currently, materials are destackered by manually dragging the material bags onto the conveyor line, which wastes manpower costs and increases labor intensity. Existing truss three-axis robots are often equipped with mechanical grippers at the end, which can easily cause the material bags to break, and the weight of the grabbed material bags is also limited.

[0003] In this regard, the utility model patent with the existing announcement number CN 217484031 U and the announcement date of September 23, 2022 discloses a truss-type automatic depalletizing machine, including a truss, a manipulator located on the truss, a depalletizing device installed on the manipulator, and a material stack rotating device located below the truss, the manipulator includes an X-axis assembly, a Y-axis assembly and a Z-axis assembly, the depalletizing device is fixedly installed at the end of the Z-axis guide rail, the depalletizing device includes a depalletizing servo motor, a roller driven by the servo motor, and a guide groove located at the front end of the roller in contact with the material stack; the material stack rotating device includes a rotating worktable, a rotating servo motor, a rotating support, a turnover pallet and a material stack from bottom to top; the material packages are transported through the guide grooves and rollers of the depalletizing device; the depalletizing device is provided with a wide guide groove to accommodate more material packages, and the depalletizing is more efficient; the material stack rotating device is rotated 180°, and the material stack rotating device moves while the depalletizing device moves, thereby saving depalletizing time and improving depalletizing efficiency;

[0004] However, this patent also exposes a problem during use: the destacking device is inserted between the material bags by providing forward thrust through the truss, and then the destacking motor drives the roller to rotate to transfer the material bags to the destacking device. However, when using the roller for transportation, the friction between the roller and the material bag is small, and slipping is prone to occur. For example, when encountering woven bags filled with cement, it is difficult to effectively transfer the material bags. At this time, the entire destacking device must be fully inserted under the material bag for normal transportation, which reduces the destacking efficiency. At the same time, there is a lack of a mechanism to fix the material bag during the transportation process, resulting in poor stability.

[0005] Therefore, there is an urgent need for a depalletizing and bag grabbing execution device and a depalletizing system to improve the efficiency of depalletizing and to fix the material bags during transportation to improve stability. Utility Model Content

[0006] In view of the above technical problems, the utility model provides a depalletizing and bag grabbing execution device and a depalletizing system, which are used to solve the problem that the existing depalletizing device slips between the rollers and the material bags when depalletizing and transporting the material bags, resulting in low depalletizing efficiency and poor transport stability.

[0007] The above technical objectives of the utility model are achieved through the following technical solutions:

[0008] The depalletizing and bag grabbing execution device comprises a connecting frame, a connecting portion is provided on the connecting frame, a depalletizing frame is horizontally provided at one end of the connecting frame, two supporting arms are parallelly provided at one end of the depalletizing frame away from the connecting frame, a first roller and a second roller are sequentially rotated between the two supporting arms, a first linkage gear is provided at the middle of the first roller, a second linkage gear and a third linkage gear are parallelly provided at the middle of the second roller, the first linkage gear and the second linkage gear are linked by a first driving chain, a driving motor is provided on the connecting frame, a second driving chain is provided between the driving motor and the third linkage gear, and a plurality of wavy material-picking teeth are provided on the circumference of the first roller and the second roller;

[0009] The connecting frame is hingedly connected with a pressing frame above the destacking frame, a pressing arm is arranged at one end of the pressing frame close to the first roller, and a driving cylinder for controlling the circular motion of the pressing frame is arranged on the connecting frame.

[0010] Furthermore, the pressure arm includes two parallel connecting rods, a pressure rod is provided between the two connecting rods, a first bending portion protruding upward is provided in the middle of the pressure rod, and a second bending portion protruding downward is provided between the two ends of the pressure rod and the corresponding connecting rods, and the first bending portion is higher than the second bending portion.

[0011] Furthermore, a connecting plate is provided at a position of the pressing frame corresponding to the driving cylinder, and the connecting plate is hinged to the driving cylinder.

[0012] Furthermore, the connection plate is provided with a plurality of adjustment holes in sequence from top to bottom.

[0013] Furthermore, a pull rod is provided between the connecting frame and the destacking frame.

[0014] Furthermore, the connecting frame is a right-angled triangle frame structure.

[0015] In summary, the beneficial technical effects of the utility model are:

[0016] The driving motor is used to link the first roller and the second roller to rotate through the first driving chain and the second driving chain, and then the material bag is pushed inward by the material shifting teeth. At the same time, the wavy structure of the material shifting teeth increases the friction between the material bag and the material bag, thereby improving the transfer efficiency of the material bag to the destacking rack. In addition, the driving cylinder is used to control the arc swing of the pressing rack, and the material bag on the destacking rack can be clamped and fixed by the pressing arm, thereby further improving the stability of the material bag during the transportation process.

[0017] The depalletizing system comprises a multi-degree-of-freedom manipulator and a depalletizing and bag grabbing execution device, wherein the multi-degree-of-freedom manipulator is connected to the depalletizing and bag grabbing execution device.

[0018] In summary, the beneficial technical effects of the utility model are:

[0019] By connecting a multi-degree-of-freedom manipulator to a depalletizing and bag grabbing execution device, the angle of the depalletizing frame can be flexibly adjusted during the depalletizing process, further improving the depalletizing efficiency, while also enabling the material bags to be placed in multiple directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a destacking and bag grabbing execution device;

[0021] Figure 2 yes Figure 1 Schematic diagram from another angle;

[0022] Figure 3 yes Figure 1 A magnified schematic diagram of part A;

[0023] Figure 4 It is a schematic diagram of the cooperation between the depalletizing and grabbing execution device and the multi-degree-of-freedom manipulator;

[0024] Figure 5 It is a schematic diagram of the cooperation between the depalletizing and bag grabbing actuator and another multi-degree-of-freedom manipulator.

[0025] Figure numerals: 1. connecting frame; 2. connecting part; 3. destacking frame; 4. supporting arm; 5. first roller; 6. second roller; 7. material removing tooth; 8. driving motor; 9. first linkage gear; 10. second linkage gear; 11. third linkage gear; 12. first driving chain; 13. second driving chain; 14. pressing frame; 15. pressing arm; 16. connecting rod; 17. pressing rod; 18. first bending part; 19. second bending part; 20. connecting plate; 21. driving cylinder; 22. articulated seat; 23. adjusting hole; 24. pulling rod; 25. articulated shaft; 26. robot; 27. truss. DETAILED DESCRIPTION

[0026] The present invention will be described clearly and completely below in conjunction with the embodiments.

[0027] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In the description of the embodiments, unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or it can be connected through an intermediate medium, or it can be a communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0029] See attached Figure 1-3 , shown is a depalletizing and bag grabbing execution device, including a connecting frame 1, and the connecting frame 1 is a right-angled triangle frame structure as a whole, which not only ensures the structural strength of the entire connecting frame 1, but also reduces the weight to the maximum extent. A connecting portion 2 is provided at the center of the connecting frame 1, and the connecting portion 2 is used to realize bolt connection with a multi-degree-of-freedom manipulator. A depalletizing frame 3 is fixed horizontally at the bottom of one end of the connecting frame 1, and two support arms 4 are provided in parallel at one end of the depalletizing frame 3 away from the connecting frame 1. A first roller 5 and a second roller 6 are provided between the two support arms 4 to rotate in sequence, wherein a material-pickup tooth 7 is provided circumferentially on the first roller 5 and the second roller 6, and the material-pickup tooth 7 is a wavy structure. When depalletizing, the wavy material-pickup tooth 7 can increase the friction between the material bag and the material bag, so that the material bag can be quickly transferred to the depalletizing frame 3. In addition, a first linkage gear 9 is provided in the middle of the first roller 5, and a second linkage gear 10 and a third linkage gear 11 are provided in parallel in the middle of the second roller 6, wherein a first drive chain 12 is provided between the first linkage gear 9 and the second linkage gear 10, and a second drive chain 13 is provided on the third linkage gear 11, and the other end of the second drive chain 13 is connected to a drive motor 8, which is fixed to the end of the connecting frame 1 away from the destacking frame 3 through a bracket. When destacking, the first roller 5 and the second roller 6 are driven to rotate by the drive motor 8 using the first drive chain 12 and the second drive chain 13, and the material bag is efficiently transferred to the destacking frame 3 by the material picking teeth 7, thereby improving the destacking efficiency and avoiding the slipping problem between the first roller 5, the second roller 6 and the material bag;

[0030] In addition, the connecting frame 1 is provided with a pressing frame 14 above the destacking frame 3, and two connecting plates 20 are provided in parallel at one end of the pressing frame 14. The connecting plates 20 are provided with adjustment holes 23. The connecting plates 20 are hinged with a driving cylinder 21 through the adjustment holes 23. The driving cylinder 21 is an oil cylinder, and the driving cylinder 21 is installed on the connecting frame 1 through a hinge seat 22. When the material bag is transferred to the destacking frame 3 during destacking, the pressing frame 14 is controlled by the driving cylinder 21 to clamp and fix the material bag using the pressing arm 15, so as to improve the stability of the material bag during the transportation process;

[0031] In addition, in order to increase the contact area between the pressing arm 15 and the material bag, the pressing arm 15 includes two connecting rods 16, the connecting rod 16 is fixed on the pressing frame 14, a pressing rod 17 is provided between the two connecting rods 16, a first bending portion 18 protruding upward is provided in the middle of the pressing rod 17, and a second bending portion 19 protruding downward is provided between the two ends of the pressing rod 17 and the connecting rod 16;

[0032] In addition, a plurality of adjustment holes 23 are provided on the connecting plate 20 from top to bottom. By hingedly connecting the drive cylinder 21 with the adjustment holes 23 at different heights, the opening and closing angle of the entire pressing frame 14 can be changed, so as to be suitable for clamping material bags at different heights.

[0033] In addition, a pull rod 24 is obliquely arranged between the destacking frame 3 and the connecting frame 1, and the pull rod 24 improves the structural strength of the destacking frame 3, so that it can carry heavier material packages when destacking.

[0034] Please refer to the attached Figure 4-5 As shown, the depalletizing and grabbing execution device is bolted to the multi-degree-of-freedom manipulator through the connecting part 2 on the connecting frame 1. The multi-degree-of-freedom manipulator can be a robot 26 or a truss 27. The robot 26 or the truss 27 provides depalletizing power for the entire depalletizing and grabbing execution device and realizes the transfer of the material bag. During depalletizing, the robot 26 or the truss 27 drives the entire depalletizing and grabbing execution device to move to the front of the material stack and makes the depalletizing frame 3 between the two material bags, then applies a forward thrust to the depalletizing frame 3, and starts the driving motor 8 at the same time to drive the first roller 5 and the second roller 6 to rotate by the first driving chain 12 and the second driving chain 13. When the depalletizing frame 3 is inserted between the two material bags, the wavy material-shifting teeth 7 rotate toward the connecting frame 1, thereby providing an inward shifting force to the material bag, and quickly transferring the material bag to the depalletizing frame 3, then the driving cylinder 21 drives the pressing arm 15 to press down to achieve clamping and fixing of the material bag, and finally the material bag is transferred to the next station by the robot 26 or the truss 27.

[0035] The above description is only a preferred specific implementation method of the present utility model, and does not limit the protection scope of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A destacking and grabbing execution device, comprising a connecting frame (1), a connecting portion (2) being provided on the connecting frame (1), a destacking frame (3) being horizontally provided at one end of the connecting frame (1), two supporting arms (4) being provided in parallel at one end of the destacking frame (3) away from the connecting frame (1), a first roller (5) and a second roller (6) being provided between the two supporting arms (4) for rotation in sequence, characterized in that: A first linkage gear (9) is provided in the middle of the first roller (5), a second linkage gear (10) and a third linkage gear (11) are provided in parallel in the middle of the second roller (6), the first linkage gear (9) and the second linkage gear (10) are linked via a first drive chain (12), a drive motor (8) is provided on the connecting frame (1), a second drive chain (13) is provided between the drive motor (8) and the third linkage gear (11), and a plurality of wave-shaped material-picking teeth (7) are provided on the circumference of the first roller (5) and the second roller (6); The connecting frame (1) is hingedly connected to a pressing frame (14) located above the destacking frame (3); a pressing arm (15) is provided at one end of the pressing frame (14) close to the first roller (5); and a driving cylinder (21) for controlling the circular motion of the pressing frame (14) is provided on the connecting frame (1).

2. The depalletizing and bag grabbing execution device according to claim 1 is characterized in that: The pressure arm (15) comprises two parallel connecting rods (16), a pressure rod (17) is arranged between the two connecting rods (16), a first bending portion (18) protruding upward is arranged in the middle of the pressure rod (17), and a second bending portion (19) protruding downward is arranged between the two ends of the pressure rod (17) and the corresponding connecting rod (16), and the first bending portion (18) is higher than the second bending portion (19).

3. The depalletizing and bag grabbing execution device according to claim 1 is characterized in that: A connecting plate (20) is provided at a position of the pressing frame (14) corresponding to the driving cylinder (21), and the connecting plate (20) is hinged to the driving cylinder (21).

4. The depalletizing and bag grabbing execution device according to claim 3 is characterized in that: The connecting plate (20) is provided with a plurality of adjustment holes (23) in sequence from top to bottom.

5. The depalletizing and bag grabbing execution device according to claim 1 is characterized in that: A pull rod (24) is provided between the connecting frame (1) and the destacking frame (3).

6. The depalletizing and bag grabbing execution device according to claim 1, characterized in that: The connecting frame (1) is a right-angled triangle frame structure.

7. Depalletizing system, characterized by: It comprises a multi-degree-of-freedom manipulator and a depalletizing and bag grabbing execution device as described in any one of claims 1 to 6, wherein the multi-degree-of-freedom manipulator is connected to the depalletizing and bag grabbing execution device.

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